I. Introduction
The open-source Virtual RobotX (VRX) simulator
https://bitbucket.org/osrf/vrx/
is designed to support the development, testing and evaluation of unmanned surface vehicles operating in ocean environments. VRX extends the Gazebo robot simulator through the addition of new domain-specific elements including environmental models, vessel dynamics representations, sensor emulation and general purpose ocean object models. The new capabilities featured in the VRX simulator include:Wave representations, based on ocean spectra, to influence vessel motion, visual rendering and sensor feedback.
Water surface visual representation, including approximation of reflection and refraction.
Stochastic wind speed representation to influence vessel motion.
Parameterized six degree-of-freedom surface vessel model.
Approximation of buoyancy forces on geometric objects to simulate floating objects.
Lidar (3D) simulation, including interaction with water surface.
A configurable propulsion system with a parameterized non-linear thrust model.